caa a22 4500 606162283 CHVBK 20210128100638.0 cr unu---uuuuu 210128e20150701xx s 000 0 eng 10.1007/s10291-014-0399-z doi (NATIONALLICENCE)springer-10.1007/s10291-014-0399-z Shipborne heading determination and error compensation based on a dynamic baseline [Elektronische Daten] [Peida Hu, Zhongyu Gao, Yajun She, Long Cai, Fengtian Han] Lengthening the baseline between antennas and compensating for heading error caused by vessel motion are two challenges encountered in using global positioning system (GPS) information to estimate the heading of a sailing vessel. In this study, a heading determination system (HDS), which consists of two quadruple GPS antenna arrays, an inertial navigation system (INS), and a total station surveying apparatus (TSSA), was developed to build a dynamic long baseline between two vessels. A heading determination algorithm is then presented based on the HDS. A heading error model, which considers TSSA time delay, is also designed to compensate for heading error and improve heading accuracy. The proposed algorithm has been examined by conducting mooring and sea tests. Test results are compared with the high-accuracy heading reference provided by the same INS. The standard deviations (std) of the heading error in the mooring and sea tests are ±6″ and ±17″, respectively. After parameter identification and error compensation using the heading error model, the heading error in the sea test is reduced to ±8″ from ±17″, thus proving the effectiveness of the proposed error compensation method. The experimental results demonstrate the capability of the HDS for high-performance shipborne heading determination. Springer-Verlag Berlin Heidelberg, 2014 Heading determination nationallicence Dynamic baseline nationallicence INS nationallicence GPS nationallicence Error compensation nationallicence Hu Peida Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut Gao Zhongyu Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut She Yajun The Second Ship Research and Design Institute, 430064, Wuhan, China aut Cai Long The Second Ship Research and Design Institute, 430064, Wuhan, China aut Han Fengtian Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 403-410 1080-5370 19:3<403 2015 19 10291 https://doi.org/10.1007/s10291-014-0399-z text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10291-014-0399-z text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Hu Peida Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut NATIONALLICENCE 700 1- Gao Zhongyu Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut NATIONALLICENCE 700 1- She Yajun The Second Ship Research and Design Institute, 430064, Wuhan, China aut NATIONALLICENCE 700 1- Cai Long The Second Ship Research and Design Institute, 430064, Wuhan, China aut NATIONALLICENCE 700 1- Han Fengtian Department of Precision Instrument, Tsinghua University, 100084, Beijing, China aut NATIONALLICENCE 773 0- GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 403-410 1080-5370 19:3<403 2015 19 10291